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Merge pull request #94 from PX4/DSM-decoder-fix 

Untangle the DSM decoder from the input source priority logic, clean up input handling some more.
This commit is contained in:
px4dev 2012-12-23 11:31:31 -08:00
parent d5aa763118 73763353d0
commit 6b3f36020c
8 changed files with 189 additions and 105 deletions
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42
apps/drivers/px4io/px4io.cpp
View File

@ -88,6 +88,8 @@ public:
virtual int ioctl(file *filp, int cmd, unsigned long arg);
bool dump_one;
private:
static const unsigned _max_actuators = PX4IO_OUTPUT_CHANNELS;
@ -175,6 +177,7 @@ PX4IO *g_dev;
PX4IO::PX4IO() :
CDev("px4io", "/dev/px4io"),
dump_one(false),
_serial_fd(-1),
_io_stream(nullptr),
_task(-1),
@ -478,6 +481,16 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
_send_needed = true;
/* if monitoring, dump the received info */
if (dump_one) {
dump_one = false;
printf("IO: %s armed ", rep->armed ? "" : "not");
for (unsigned i = 0; i < rep->channel_count; i++)
printf("%d: %d ", i, rep->rc_channel[i]);
printf("\n");
}
out:
unlock();
}
@ -665,6 +678,30 @@ test(void)
exit(0);
}
void
monitor(void)
{
unsigned cancels = 4;
printf("Hit <enter> three times to exit monitor mode\n");
for (;;) {
pollfd fds[1];
fds[0].fd = 0;
fds[0].events = POLLIN;
poll(fds, 1, 500);
if (fds[0].revents == POLLIN) {
int c;
read(0, &c, 1);
if (cancels-- == 0)
exit(0);
}
if (g_dev != nullptr)
g_dev->dump_one = true;
}
}
}
int
@ -740,8 +777,11 @@ px4io_main(int argc, char *argv[])
!strcmp(argv[1], "rx_sbus") ||
!strcmp(argv[1], "rx_ppm"))
errx(0, "receiver type is automatically detected, option '%s' is deprecated", argv[1]);
if (!strcmp(argv[1], "test"))
test();
if (!strcmp(argv[1], "monitor"))
monitor();
errx(1, "need a command, try 'start', 'test', 'rx_ppm', 'rx_dsm', 'rx_sbus' or 'update'");
errx(1, "need a command, try 'start', 'test', 'monitor' or 'update'");
}

12
apps/px4io/comms.c
View File

@ -100,8 +100,8 @@ comms_main(void)
debug("FMU: ready");
for (;;) {
/* wait for serial data, but no more than 100ms */
poll(&fds, 1, 100);
/* wait for serial data, but no more than 10ms */
poll(&fds, 1, 10);
/*
* Pull bytes from FMU and feed them to the HX engine.
@ -130,15 +130,9 @@ comms_main(void)
last_report_time = now;
/* populate the report */
for (int i = 0; i < system_state.rc_channels; i++)
for (unsigned i = 0; i < system_state.rc_channels; i++)
report.rc_channel[i] = system_state.rc_channel_data[i];
if (system_state.sbus_input_ok || system_state.dsm_input_ok || system_state.ppm_input_ok) {
report.channel_count = system_state.rc_channels;
} else {
report.channel_count = 0;
}
report.armed = system_state.armed;
/* and send it */

78
apps/px4io/controls.c
View File

@ -55,19 +55,23 @@
#include <drivers/drv_hrt.h>
#include <systemlib/hx_stream.h>
#include <systemlib/perf_counter.h>
#include <systemlib/ppm_decode.h>
#define DEBUG
#include "px4io.h"
static void ppm_input(void);
void
controls_main(void)
{
struct pollfd fds[2];
/* DSM input */
fds[0].fd = dsm_init("/dev/ttyS0");
fds[0].events = POLLIN;
/* S.bus input */
fds[1].fd = sbus_init("/dev/ttyS2");
fds[1].events = POLLIN;
@ -75,14 +79,76 @@ controls_main(void)
/* run this loop at ~100Hz */
poll(fds, 2, 10);
if (fds[0].revents & POLLIN)
dsm_input();
if (fds[1].revents & POLLIN)
sbus_input();
/*
* Gather R/C control inputs from supported sources.
*
* Note that if you're silly enough to connect more than
* one control input source, they're going to fight each
* other. Don't do that.
*/
bool locked = false;
/* XXX do ppm processing, bypass mode, etc. here */
if (fds[0].revents & POLLIN)
locked |= dsm_input();
if (fds[1].revents & POLLIN)
locked |= sbus_input();
/*
* If we don't have lock from one of the serial receivers,
* look for PPM. It shares an input with S.bus, so there's
* a possibility it will mis-parse an S.bus frame.
*
* XXX each S.bus frame will cause a PPM decoder interrupt
* storm (lots of edges). It might be sensible to actually
* disable the PPM decoder completely if we have an alternate
* receiver lock.
*/
if (!locked)
ppm_input();
/*
* If we haven't seen any new control data in 200ms, assume we
* have lost input and tell FMU.
*/
if ((hrt_absolute_time() - system_state.rc_channels_timestamp) > 200000) {
/* set the number of channels to zero - no inputs */
system_state.rc_channels = 0;
/* trigger an immediate report to the FMU */
system_state.fmu_report_due = true;
}
/* XXX do bypass mode, etc. here */
/* do PWM output updates */
mixer_tick();
}
}
static void
ppm_input(void)
{
/*
* Look for new PPM input.
*/
if (ppm_last_valid_decode != 0) {
/* avoid racing with PPM updates */
irqstate_t state = irqsave();
/* PPM data exists, copy it */
system_state.rc_channels = ppm_decoded_channels;
for (unsigned i = 0; i < ppm_decoded_channels; i++)
system_state.rc_channel_data[i] = ppm_buffer[i];
/* copy the timestamp and clear it */
system_state.rc_channels_timestamp = ppm_last_valid_decode;
ppm_last_valid_decode = 0;
irqrestore(state);
/* trigger an immediate report to the FMU */
system_state.fmu_report_due = true;
}
}

60
apps/px4io/dsm.c
View File

@ -104,7 +104,7 @@ dsm_init(const char *device)
return dsm_fd;
}
void
bool
dsm_input(void)
{
ssize_t ret;
@ -141,7 +141,7 @@ dsm_input(void)
/* if the read failed for any reason, just give up here */
if (ret < 1)
return;
goto out;
last_rx_time = now;
/*
@ -153,7 +153,7 @@ dsm_input(void)
* If we don't have a full frame, return
*/
if (partial_frame_count < DSM_FRAME_SIZE)
return;
goto out;
/*
* Great, it looks like we might have a frame. Go ahead and
@ -161,6 +161,12 @@ dsm_input(void)
*/
dsm_decode(now);
partial_frame_count = 0;
out:
/*
* If we have seen a frame in the last 200ms, we consider ourselves 'locked'
*/
return (now - last_frame_time) < 200000;
}
static bool
@ -275,10 +281,13 @@ dsm_decode(hrt_abstime frame_time)
*/
if (((frame_time - last_frame_time) > 1000000) && (channel_shift != 0))
dsm_guess_format(true);
/* we have received something we think is a frame */
last_frame_time = frame_time;
/* if we don't know the frame format, update the guessing state machine */
if (channel_shift == 0) {
dsm_guess_format(false);
system_state.dsm_input_ok = false;
return;
}
@ -293,10 +302,6 @@ dsm_decode(hrt_abstime frame_time)
* seven channels are being transmitted.
*/
const unsigned dsm_chancount = (DSM_FRAME_CHANNELS < PX4IO_INPUT_CHANNELS) ? DSM_FRAME_CHANNELS : PX4IO_INPUT_CHANNELS;
uint16_t dsm_channels[dsm_chancount];
for (unsigned i = 0; i < DSM_FRAME_CHANNELS; i++) {
uint8_t *dp = &frame[2 + (2 * i)];
@ -311,31 +316,40 @@ dsm_decode(hrt_abstime frame_time)
continue;
/* update the decoded channel count */
if (channel > ppm_decoded_channels)
ppm_decoded_channels = channel;
if (channel >= system_state.rc_channels)
system_state.rc_channels = channel + 1;
/* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
if (channel_shift == 11)
value /= 2;
value += 998;
/* stuff the decoded channel into the PPM input buffer */
dsm_channels[channel] = 988 + value;
/*
* Store the decoded channel into the R/C input buffer, taking into
* account the different ideas about channel assignement that we have.
*
* Specifically, the first four channels in rc_channel_data are roll, pitch, thrust, yaw,
* but the first four channels from the DSM receiver are thrust, roll, pitch, yaw.
*/
switch (channel) {
case 0:
channel = 2;
break;
case 1:
channel = 0;
break;
case 2:
channel = 1;
default:
break;
}
/* DSM input is valid */
system_state.dsm_input_ok = true;
/* check if no S.BUS data is available */
if (!system_state.sbus_input_ok) {
for (unsigned i = 0; i < dsm_chancount; i++) {
system_state.rc_channel_data[i] = dsm_channels[i];
system_state.rc_channel_data[channel] = value;
}
/* and note that we have received data from the R/C controller */
/* XXX failsafe will cause problems here - need a strategy for detecting it */
system_state.rc_channels_timestamp = frame_time;
system_state.rc_channels = dsm_chancount;
/* trigger an immediate report to the FMU */
system_state.fmu_report_due = true;
}
}

44
apps/px4io/mixer.c
View File

@ -50,8 +50,6 @@
#include <drivers/drv_pwm_output.h>
#include <systemlib/ppm_decode.h>
#include "px4io.h"
/*
@ -59,10 +57,6 @@
*/
static unsigned fmu_input_drops;
#define FMU_INPUT_DROP_LIMIT 20
/*
* Collect RC input data from the controller source(s).
*/
static void mixer_get_rc_input(void);
/*
* Update a mixer based on the current control signals.
@ -88,12 +82,6 @@ mixer_tick(void)
int i;
bool should_arm;
/*
* Start by looking for R/C control inputs.
* This updates system_state with any control inputs received.
*/
mixer_get_rc_input();
/*
* Decide which set of inputs we're using.
*/
@ -122,8 +110,10 @@ mixer_tick(void)
} else {
/* we have no control input */
/* XXX builtin failsafe would activate here */
control_count = 0;
}
/*
* Tickle each mixer, if we have control data.
*/
@ -142,8 +132,7 @@ mixer_tick(void)
/*
* Decide whether the servos should be armed right now.
*/
should_arm = system_state.armed && system_state.arm_ok && (control_count > 0) && system_state.mixer_use_fmu;
should_arm = system_state.armed && system_state.arm_ok && (control_count > 0);
if (should_arm && !mixer_servos_armed) {
/* need to arm, but not armed */
up_pwm_servo_arm(true);
@ -166,30 +155,3 @@ mixer_update(int mixer, uint16_t *inputs, int input_count)
mixers[mixer].current_value = 0;
}
}
static void
mixer_get_rc_input(void)
{
/* if we haven't seen any new data in 200ms, assume we have lost input and tell FMU */
if ((hrt_absolute_time() - ppm_last_valid_decode) > 200000) {
/* input was ok and timed out, mark as update */
if (system_state.ppm_input_ok) {
system_state.ppm_input_ok = false;
system_state.fmu_report_due = true;
}
return;
}
/* mark PPM as valid */
system_state.ppm_input_ok = true;
/* check if no DSM and S.BUS data is available */
if (!system_state.sbus_input_ok && !system_state.dsm_input_ok) {
/* otherwise, copy channel data */
system_state.rc_channels = ppm_decoded_channels;
for (unsigned i = 0; i < ppm_decoded_channels; i++)
system_state.rc_channel_data[i] = ppm_buffer[i];
system_state.fmu_report_due = true;
}
}

1
apps/px4io/px4io.c
View File

@ -44,6 +44,7 @@
#include <debug.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <nuttx/clock.h>

10
apps/px4io/px4io.h
View File

@ -72,14 +72,10 @@ struct sys_state_s
bool armed; /* IO armed */
bool arm_ok; /* FMU says OK to arm */
bool ppm_input_ok; /* valid PPM input data */
bool dsm_input_ok; /* valid Spektrum DSM data */
bool sbus_input_ok; /* valid Futaba S.Bus data */
/*
* Data from the remote control input(s)
*/
int rc_channels;
unsigned rc_channels;
uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS];
uint64_t rc_channels_timestamp;
@ -169,9 +165,9 @@ extern void comms_main(void) __attribute__((noreturn));
*/
extern void controls_main(void);
extern int dsm_init(const char *device);
extern void dsm_input(void);
extern bool dsm_input(void);
extern int sbus_init(const char *device);
extern void sbus_input(void);
extern bool sbus_input(void);
/*
* Assertion codes

31
apps/px4io/sbus.c
View File

@ -58,6 +58,7 @@
static int sbus_fd = -1;
static hrt_abstime last_rx_time;
static hrt_abstime last_frame_time;
static uint8_t frame[SBUS_FRAME_SIZE];
@ -94,7 +95,7 @@ sbus_init(const char *device)
return sbus_fd;
}
void
bool
sbus_input(void)
{
ssize_t ret;
@ -131,7 +132,7 @@ sbus_input(void)
/* if the read failed for any reason, just give up here */
if (ret < 1)
return;
goto out;
last_rx_time = now;
/*
@ -143,7 +144,7 @@ sbus_input(void)
* If we don't have a full frame, return
*/
if (partial_frame_count < SBUS_FRAME_SIZE)
return;
goto out;
/*
* Great, it looks like we might have a frame. Go ahead and
@ -151,6 +152,12 @@ sbus_input(void)
*/
sbus_decode(now);
partial_frame_count = 0;
out:
/*
* If we have seen a frame in the last 200ms, we consider ourselves 'locked'
*/
return (now - last_frame_time) < 200000;
}
/*
@ -195,17 +202,19 @@ sbus_decode(hrt_abstime frame_time)
/* check frame boundary markers to avoid out-of-sync cases */
if ((frame[0] != 0x0f) || (frame[24] != 0x00)) {
sbus_frame_drops++;
system_state.sbus_input_ok = false;
return;
}
/* if the failsafe bit is set, we consider that a loss of RX signal */
/* if the failsafe bit is set, we consider the frame invalid */
if (frame[23] & (1 << 4)) {
system_state.sbus_input_ok = false;
return;
}
unsigned chancount = (PX4IO_INPUT_CHANNELS > 16) ? 16 : PX4IO_INPUT_CHANNELS;
/* we have received something we think is a frame */
last_frame_time = frame_time;
unsigned chancount = (PX4IO_INPUT_CHANNELS > SBUS_INPUT_CHANNELS) ?
SBUS_INPUT_CHANNELS : PX4IO_INPUT_CHANNELS;
/* use the decoder matrix to extract channel data */
for (unsigned channel = 0; channel < chancount; channel++) {
@ -228,14 +237,16 @@ sbus_decode(hrt_abstime frame_time)
}
if (PX4IO_INPUT_CHANNELS >= 18) {
/* decode two switch channels */
chancount = 18;
/* XXX decode the two switch channels */
}
/* note the number of channels decoded */
system_state.rc_channels = chancount;
system_state.sbus_input_ok = true;
system_state.fmu_report_due = true;
/* and note that we have received data from the R/C controller */
system_state.rc_channels_timestamp = frame_time;
/* trigger an immediate report to the FMU */
system_state.fmu_report_due = true;
}